伪距GPS/INS组合导航系统的多模型自适应卡尔曼滤波器设计  

Design of the Multi-model Adaptive Kalman Filter for Pseudo-distance GPS/INS Integrated Navigation System

作　　者：肖乾[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《船舶工程》2005年第6期59-62,共4页Ship Engineering

摘　　要：对多模型自适应估计滤波进行了仿真研究.仿真结果表明,多模型自适应估计滤波可以克服单一模型卡尔曼滤波器在对真实系统状态参数发生变化时的滤波误差过大甚至发散的问题,对于环境的变化具有较强的适应性,整体上可提高组合导航系统的导航精度.The paper makes the simulation research on the multi-model adaptive filters. The result shows that multi-model adaptive filtering can achieve stronger adaptability and higher accuracy than one of the single model and solve the problem of excessive filter error when state parameters changing in practice. The adaptive filter system has better adaptability to variable environment conditions and can provide higher navigation precision.

关 键 词：船舶 组合导航系统 自适应滤波 卡尔曼滤波 

分 类 号：U666.11[交通运输工程—船舶及航道工程]